Download Metastability

Advanced Digital Design
Metastability
A. Steininger
Vienna University of Technology
Outline

What is metastability

Effects and threats

The unavoidability

MTBU estimation

Synchronizers & Countermeasures

Trends

Measurement of Model Parameters
Lecture "Advanced Digital Design"
© A. Steininger / TU Vienna
2
Metastability: An Example
stable
left
position


stable
right
position
Ball may remain on top („metastable“) for
unbounded time
A small disturbance causes the ball to fall in
either direction
Lecture "Advanced Digital Design"
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3
What is Metastability ?
continuous-valued input space
(initial position of the ball)
mapped to
binary output space
(left or right position)

mapping may be undecided for
unbounded time
Lecture "Advanced Digital Design"
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4
Mestastability in Logic ?

„In the synchronous digital world we
do not have a continuous space“
(after all, that‘s the key benefit!)

„Inputs and outputs of gates are all
digital“

So why bother about metastability?
Lecture "Advanced Digital Design"
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5
The real world




signal levels representing the digital
state are continuous
pulse lengths are continuous in time
relative signal arrival times are
continuous
transistors and the circuits built from
them operate in continuous time
with continuous voltage amplitudes
Lecture "Advanced Digital Design"
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6
Specifying Problems Away

is the input high or low?


is the pulse long enough to be
recognized by a gate?


spec: forbidden range
spec: min pulsewidth
did A occur before or after B?

spec: setup/hold time
Lecture "Advanced Digital Design"
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Limits of the Abstraction





in a closed world these issues can be
„specified away“, but
what happens at interfaces
what happens with faults
The synchronous digital abstraction
cannot comprise these issues
when facing metastability, CMOS
circuits are operated out of spec,
hence have undefined behavior
Lecture "Advanced Digital Design"
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8
Level: Inverter Example
uout
Invertercharacteristics
uin
Lecture "Advanced Digital Design"

analog transfer
characteristics

„forbidden“ input level
may lead to „forbidden“
output level

propagation of
„forbidden“ level
© A. Steininger / TU Vienna
9
Pulsewidth: RC Example



short digital
input pulse
creates analog
output in
forbidden range
parasitic RCs
are omnipresent
in ASICs
Lecture "Advanced Digital Design"
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10
A before B: AND Example



contradicting
digital transitions on inputs
depending on
timing a glitch
is produced
RC will convert
it into ambiguous voltage
Lecture "Advanced Digital Design"
a
b
a AND b
© A. Steininger / TU Vienna
11
Setup/Hold Time of Latch

feedback path must be stable when
swiching from „transparent“ to „hold“.

Otherwise we feed
the storage loop
with a marginal
condition (pulse
width, level), thus
creating undefined
behavior
Lecture "Advanced Digital Design"
D
1
1
Q
1
CLK
D
Q
© A. Steininger / TU Vienna
12
Metastability in the Latch
stable
left
position


stable
right
position
normal operation: strong momentum will roll
ball to other side
metastability: marginal momentum will roll
ball just to the top
Lecture "Advanced Digital Design"
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13
Response Time of a FF
Observation: An input transition during the
decision window leads to an (unbounded)
increase of clock-to-output delay
off-spec
tclk2out
tclk2out,nom
tsetup 0
Lecture "Advanced Digital Design"
thold
© A. Steininger / TU Vienna
CLK
D
tclk2data
14
Observation

combinational elements


transform off-spec inputs into offspec outputs immediatey
sequential (stateful) elements
are expected to decide for one
state;
 off-spec inputs will delay this
decision
 only they can become metastable

Lecture "Advanced Digital Design"
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15
Faces of Metastability

(properly shaped) late transition



creeping through forbidden voltage
range


may cause timing problems
problem specific for synchronous design
generates long undefined level
oscillation

generates erroneous transitions
Lecture "Advanced Digital Design"
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16
Metastability: Creeping
ue,2 = ua,1
Inv 1
stable (HI)
5
1
4
Inv 2
1
metastable
3
stable (LO)
2
1
1
A
Lecture "Advanced Digital Design"
2
© A. Steininger / TU Vienna
3
4
5 ue,1 = ua,2
17
Metastability: Oscillation
PW<D1+D2

D1
1
D2

1

Lecture "Advanced Digital Design"
A pulse with length
shorter than the
roundtrip delay through
the inverter loop can
circulate
Thus it appears
periodically at the
output
 „oscillation“
© A. Steininger / TU Vienna
18
Ways of Triggering MS

Time domain

glitch in feedback loop
 S/H violation, or
 glitch on D
D
1
1
Value domain

Marginal input
voltage stored even
without S/H violation
Q
D
1
Clk
D
CLK
D
Q
L
Clk
FB
L
FB
Lecture "Advanced Digital Design"
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19
Why voilate Setup/Hold?

in a closed synchronous system no
violations will occur

BUT: no system is really closed




non-synchronous interfaces
clock domain boundaries
fault effects (single-event upsets)
off-spec operation (temp, VCC, frequency)
Lecture "Advanced Digital Design"
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20
Asynchronous Inputs
clock period Tclk
dec. win. T0
setup/hold
asynchronous event
probability of
setup/hold violation
Lecture "Advanced Digital Design"
© A. Steininger / TU Vienna
T0
Pviolate   0
Tclk
21
Multiple Clock Domains
CLK 1
(Ref)
CLK 2


A
arbitrary „phase“ relation
setup/hold violation inevitable
(fundamentally!)
Lecture "Advanced Digital Design"
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22
Metastability: Threats

propagation


undefined logic level/timing at input
may produce undefined output
„Byzantine“ Interpretation

Thresholds/timing of different inputs are
different (type variations)

marginal input level/timing may be
interpreted differently
Lecture "Advanced Digital Design"
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23
Metastability Propagation
uout
Metastab.
Invertercharacteristics
data
uin
clk
D
CLK
X
D
X
CLK
Combinational gates as well as the
inverters inside the FF map metastable
inputs to metastable outputs
A
Lecture "Advanced Digital Design"
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24
Inconsistent Perception
Metastab.
D
X
D
A
0
CMOS 3V
threshold A
CLK
2.4V
2.0V
CLK
3.3V
D
B
1
0.8V
treshold B
CLK
X
0.4V
0.0V
The metastable state may be regarded as
„1“ by one FF and as „0“ by another
A
Lecture "Advanced Digital Design"
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25
Metastability Proofs

Formal proofs exist that




metastability can in principle not be
avoided („Buridan‘s Principle“)
no upper bound on the duration of
metastable state can be given
but after infinite time the state will be
resolved with probability 1
Fundamental issue

Mapping from a continuous space to a
discrete space involves a decision that
may take unbounded time (namely in
borderline cases)
Lecture "Advanced Digital Design"
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26
Approaching the Border


The mapping from continuous to binary
space needs a borderline
In the proximity of the borderline the force
pulling towards one of the binary states
becomes smaller
(compare momentum of the ball)


In the continuous input space one can go
arbitrarily close to the borderline, thus
moving this force towards zero
Often the stable binary states represent
energy-minima, while the metastable state
represents a (local) maximum
(Remember: energy must change continuously)
Lecture "Advanced Digital Design"
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27
Metastability Avoidance?

Can‘t we avoid metastability
in practice, if we

avoid borderline cases?
(only those are problematic!)
=> synchronous design, noise margins…

allow arbitrary time for resolving?

change input threshold of successor
stage ?

use a different storage element ?
Lecture "Advanced Digital Design"
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28
Why use the D-Flipflop?
Metastability is not restriced to
D-FFs, it is encountered with






SR-latch, JK-Flipflop, Muller C-Gate,…
Basically all biststable elements can
become metastable:
state is always associated with energy
state change always involves energy
transfer
law of physics dictate
max
continuous transfer
min
min
but: binary state
Lecture "Advanced Digital Design"
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29
Mitigating Metastability

Metastability cannot be eliminated in general




all such circuits have been shown to fail…
in practice systems still work because
metastability is very improbable
it can be made more or less probable
by design techniques
it can be transformed
between its different
modes



marginal voltage level
late transition
oscillation
Lecture "Advanced Digital Design"
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30
Conversions

Low-Pass


Discriminator


creeping => glitch
Schmitt Trigger


creeping + noise => oscillation
High / Low threshold input


oscillation => creeping
creeping => late transition
Flip-Flop

late transition => creeping or oscillation
Lecture "Advanced Digital Design"
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31
Masking Metastability

assume m-of-n voting
…
…
m-1
n
• If the metastable input just makes the
difference, MS can propagate
• in all other cases MS will be masked
Lecture "Advanced Digital Design"
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32
Detecting Metastability
… often possible by comparing Q and Q
 creeping


late transition


both, Q and Q deliver VDD/2; this is often
perceived as the „same“ logic level
with proper separation of Schmitt-Trigger
/ High threshold inverter and output
inverter => no visible effect
oscillation

literature reports about „in phase“
oscillation of Q and Q
Lecture "Advanced Digital Design"
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33
Quantifying the Risk of MS

„Upset“


metastable output is captured by
subsequent FF after tr
Mean Time Between Upset (MTBU)

expected value (statistics!) for interval
between two subsequent upsets
 t res 
1
MTBU 
 exp 
dat  T0  f clk
 c 
Lecture "Advanced Digital Design"
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34
Resolution Time
t res  Tclk  tclk 2 out  tcomb  t SU
clk
asyn
syn
tclk2out
normal operation:
tres>0
tcomb tSU
upset:
tres
asyn
clk
D
CLK
Lecture "Advanced Digital Design"
syn
comb.
logic
tres<0
D
CLK
© A. Steininger / TU Vienna
35
Parameters

Resolution time tres


Flip-Flop parameters c ,T0





interval available for output to settle after
active clock edge
experimentally determined
time constant c dep. on transit frequ.
T0 from effective width of decision window
Clock period of FF Tclk = 1/fclk
Average rate of change dat

Avg. rate of transitions at FF data input
Lecture "Advanced Digital Design"
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36
Modeling Metastability
How can we derive this
equation?
 Which model to apply?

Lecture "Advanced Digital Design"
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37
Simple Metastability Model

u1
u2

uout
Invertercharacteristics
uout = -A*uin
uin
Lecture "Advanced Digital Design"
© A. Steininger / TU Vienna

model bistable
element by
inverter pair
use linear model
for inverter,
around midpoint of
transfer function
(„balance point“)
consider „homogenuous“ case, i.e.
closed loop w/o
inputs
38
Introducing Dynamics

-A
RC = 
u1
u2
RC = 

-A

Lecture "Advanced Digital Design"
© A. Steininger / TU Vienna
1st order
approximation of
dynamic behavior:
RC element
assume symmetry
(same A, RC for
both inverters) for
simplicity
WLOG assume
symmetric supply
(+VCC/-VCC) against
GND
39
Differential Equations

Basics:

forward path:


u R  R  iR
duC
dt
du 2
u 2   A  u1  R  C 
dt
backward path:
du1
u1   A  u 2  R  C 
dt
Laplace:
 du (t ) 
0
L
  s U ( s)  u
 dt 

iC  C 


U 2   A  U1    s  U 2  u20
U1   A  U 2    s  U1  u10


time-domain solution:
0
0
u20  u10
A

1
u

u


 A 1 
2
1
u 2 (t ) 
 exp
t  
 exp 
t 
2
2

 



Lecture "Advanced Digital Design"
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40
The Solution
u 20  u10
 A 1 
u 2 (t ) 
 exp
t 
2
 


u20-u10 … difference of initial voltages
(charges on Cs); zero at balance point

 … RC constant,

A … inverter gain at balance point

A/ … gain bandwidth product of inverter
bandwidth = 1/RC
starting from the initial difference u2 rises
exponentially with time towards the
positive or negative supply voltage
Lecture "Advanced Digital Design"
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41
Plot of u2 over Time
500
-25
-20
-15
250
-10
-5
0
0
0
1
2
3
5
10
-250
15
20
-500
25
For a given t we can project „forbidden“ input range back
to a „forbidden“ range of the initial voltage difference
Lecture "Advanced Digital Design"
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42
Forbidden Initial Range
u20  u10
 A 1 
u2 (t ) 
 exp 
t 
2
 

u0
 A 1

 u0,border (t r )  U out ,border  exp 
 t res 



The forbidden output voltage range relates to a
forbidden range of initial difference voltage (i.e. just
after sampling). This range becomes exponentially
smaller for high resolution time tres and high gainbandwidth product A/.
Lecture "Advanced Digital Design"
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43
Aperture Window TAW
How long does it take for the input
voltage difference to cross the
forbidden range?
udiff(t), slope S
2u0,border

+u0,border
S

TAW
TAW

u0,border
Depends on slopes of both,
input voltage AND feedback voltage
Lecture "Advanced Digital Design"
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44
Calibrating TAW

TAW depends on u0,border ,
which in turn depends on tres
TAW 
2u0,border
S

2U 0,border
S
 A 1

 exp 
 t res 




for immediate use of the output:
2U 0,border
technology
TAW (t res  0) 
 TW 0
parameter
S

thus
TAW
Lecture "Advanced Digital Design"
 A 1

 TW 0  exp 
 t res 



© A. Steininger / TU Vienna
45
Hitting the Aperture

with exponentially distributed inter-arrival
time of input events (rate dat) and
sampling with period Tclk (i.e. window TAW is
repeated) the upset rate can be calculated
as
upset

TAW
 dat 
Tclk
Hence the MTBU becomes
MTBU 
Lecture "Advanced Digital Design"
1
upset

1
dat
Tclk

TAW
© A. Steininger / TU Vienna
46
Putting it all together
MTBU 
1
upset

1
dat
Tclk

TAW
TAW
MTBU 
1
dat
Tclk
 A 1


 exp
 t res 
TW 0
 

T0
Lecture "Advanced Digital Design"
 A 1

 TW 0  exp  
 t res 



© A. Steininger / TU Vienna
1/C
47
The widely used equation
expected time
between upsets
(statistical!)
available
resolution time
 tr 
1
MTBU 
 exp 
dat  f clk  T0
c 
rate of
input events
sampling frequency
Lecture "Advanced Digital Design"
© A. Steininger / TU Vienna
technology
parameters
48
Late Transition
calculate output delay over data to clk distance
 t 
uout (t ) 
 exp  
2
C 
udiff
 2uout 

t (udiff )   C  ln 
u 
 diff 
uout  U th
detector threshold
udiff  S  DTin
input slope S
 2U th 
 TW 0 
   C  ln 

tdly (DTin )   C  ln 
 S  DTin 
 DTin 
output delay depends on input phase with ln(1/x)
Lecture "Advanced Digital Design"
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49
Graphical View
Dly
25
20
15
Dly
10
5
0
-25
-20
Lecture "Advanced Digital Design"
-15
-10
-5
0
5
© A. Steininger / TU Vienna
10
15
20
25
50
Provoking Metastability







asynchronous inputs
multiple clock domains
clock divider (uncontrolled delay)
low timing margins
slow technology (gain/BW prod)
supply drop (excessive delay)
Operation under high temperature
Lecture "Advanced Digital Design"
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51
Determination of T0, C
experimental:
 vary tres
 observe MTBU
 log graph
=> straight
 slope -> C
 offset -> T0
1
1
C
dat = 2MHz
fclk = 10MHz
1
dat*fclk*T0
tres(ns)
Lecture "Advanced Digital Design"
© A. Steininger / TU Vienna

typical values
52
Metastability – Trends

Claim: „Metastability is a non-issue
in modern technologies“
log MTBU[s]
2002
1996
(XC2VP4)
(XC4005)
BUT: clock rates have
increased by a factor of
16 during that period –
12
6
tres
and timing margins
have shrunk in the
same way!
5
Lecture "Advanced Digital Design"
© A. Steininger / TU Vienna
53
Mitigating Metastability

avoid/minimize non synchronous IFs

leave sufficient timing margins

use fast technology (gain/BW prod)

ensure proper operating conditions (stable
power supply, cooling,…)

basic principle of synchronizers:
trade performance for increased timing
margins (tres)
Lecture "Advanced Digital Design"
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54
Synchronizer

Example: Cascade of n Input-FFs
asyn
syn
D
D
clk
CLK
CLK
MTBU calculation: same equation as before,
but now individual resolution times sum up:
   t res ,i
t res
Lecture "Advanced Digital Design"
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55
MTBF of n-Stage Synchr.

Recall the projection of allowed output range to an
input range considering the exponential increase
during the resolution time:
 t res
ˆ
 uˆ0 (t res )  U out  exp 
 c




u0 for FFk is provided by the output of a preceding
stage FFk-1 => we make the same projection again:
 t res
ˆ
ˆ
 u0,k 1 (t res ,k 1 )  u0,k  exp 
 c
 t res
ˆ
 U out ,k  exp 
 c
Lecture "Advanced Digital Design"

 t res
  exp 
k
 c
© A. Steininger / TU Vienna

 
 k 1


 k 1
56
Synchronizer-Rules

never synchronize more than one signal (rail)

danger of data inconsistecy

degradation of MTBU by number of signals

for a wider bus, use one signal for handshaking

never introduce a fork before the end of synchronizer

estimate the MTBU of your solution


too low MTBU leads to failures

too many stages introduce unnecessary delay
there is definitely no magic solution to eliminate the
potential for metastability, but it can be made
arbitrarily improbable
Lecture "Advanced Digital Design"
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Synchronizer – Trends

need for more synchronizers




need for more synchronizer stages





more function units being integrated on a chip
more standardized frequencies
higher communication demands
increasing PVT variations => larger safety margins
synchronizer paramters become worse:
C used to scale proportional to (FO4) propagation
delay for decades,
below 45nm technologies the scaling is worse
synchronizers tend to create a considerable
performance loss in the future
Lecture "Advanced Digital Design"
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58
Even/Odd Synchronizer




works for two periodic clocks only
avoids performance penalty of synchronizers
largely eliminated potential for metastability
for details see
[Dally & Tell, The Even/Odd Synchronizer, ASYNC 2010]
Lecture "Advanced Digital Design"
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59
Mutex



For deciding the „A before B“
problem a special circuit exists,
namely the Mutex (mutual exclusion
element)
Unlike the Synchronizer it assumes
there is unbounded time to resolve
It will be treated in a later Section.
Lecture "Advanced Digital Design"
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60
Assumptions made so far

linear inverter slope (1st order model)

load independent gain

dominating RC const. (1st order model)

full symmetry (RCs, inverter properties,
rising/falling slopes,…)

decreasing exp term neglected

homogenuous case (MUX switching and input
signal shape neglected)

equally distributed voltage levels

exponentially distributed input events
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61
What about Oscillation?
Can our model be used for
oscillatory behavior?
 How / Why not?

Lecture "Advanced Digital Design"
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62
A More general MS Model
ideal amplifier
gain -A
pure delay
delay D
slope limiter
time constant RC
slope S
 GBWP = A/RC determines dynamics
(decay of metastable state)
 oscillation for D > RC/A
 creeping otherwise
Lecture "Advanced Digital Design"
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63
Characterizing Metastability





know (=assume)
exponential MTBU
relation
measure MTBU
over tres
draw semilog plot
=> straight line
find params:

slope  C

offset  T0
C
1
need very good setup
for measurements !
(assumptions made…)
Lecture "Advanced Digital Design"
1
© A. Steininger / TU Vienna
dat = 2MHz
fclk = 10MHz
1
dat. fclk. T0
tres(ns)
64
Measuring Metastability
MS producer
DUT
D
MS detector
counter
Q
clk
[Altera]
Lecture "Advanced Digital Design"
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65
MS Producer

Single clock source, controllable relative delay
between clock and data path






variable delay element, optional: feedback control
create as many MS events as possible in short time
well-controlled and reproducible phase
steer into deep metastability
problems: noise, cannot derive MTBU
Two independent clock sources:


uniform distribution of phase relations
problems: MS rare, phase distribution truly uniform?
Lecture "Advanced Digital Design"
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66
MS Detector

Aims:


Problem:


detect metastable output of DUT
How define MS ?

late transition detection

intermediate voltage detection

output proximity detection
Implementation options (late trans det):




sample DUT output with FF1 after tres
compare with reference FF2 having „infinite“ tres
mismatch indicates metastability
many sources of error!
Lecture "Advanced Digital Design"
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67
Late Transition Detection
osc 1
DUT
DET
D
D
Q
Q
≠
var D
CNT
osc 2
D
Q
D∞
REF
• max of var D determines maximum detectable tCO
• infinite delay not feasible
=> false positive for large tCO
68
Detecting Metastability (1)
Fundamental problems
 MS behavior is highly sensitive esp.
to loading



cannot measure w/o influencing
can only make indirect observation
What is an „upset“ at all? no sharp
definition

MS interpretation becomes ambiguous

often „by chance“ (threshold of next
stage) or „deliberate“ (scope)
69
Detecting Metastability (2)
Practical problems

FFs in „relevant“ circuits are not accessible,



detection circuits usually involve forks



in DUT and measurement circuit
which manifestation of MS to observe?


different path delays, different thresholds
usually ignored: symmetry assumed
how do PVT variations impact the results?


cannot propagate subtle effects over pins
cannot reliably capture them on-chip either
intermediate voltage, output proximity, late trans.
where get the reference from? infinite time…
70
Relating the Results


We plot log(MTBU) or tCO over tDtoC
How determine tDtoC?





measure with oscilloscope/counter
know from timing control: dly 2 – dly 1
This relates to the external view (pins)!
The actual FF cell will perceive a different
timing due to non-matching path delays for
C/D
At best this may shift the MS point, but what
about variable path delays (VT) ?
71
Time Accuracy

Clock



Delay



how accurate/stable is it?
where is it used?
how accurate is it
in which granularity can I vary it?
Output delay measurement

how accurate is my scope?
Lecture "Advanced Digital Design"
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72
Uncertainty Characterization




…is a „must“ in many types of
measurement.
Result is given as value ± u%
For probabilistic results: confidence
interval
These types of characterization allow

Estimation of the credibility of value
Determination of worst case for value

Calculation of compound uncertainty


Why not care for this in metastability
measurement / MTBU prediction?
73
Why we SHOULD care

There is no other evidence for the (even
approximate) correctness of MTBU
prediction: Wait for 1000 years?

Highly super-linear dependence of
predicted MTBU on measured parameters
=> may amplify errors!

Given the ample PVT variations – how to
translate a specific measurement result
into a generally valid prediction?
74
What about simulation


simulation can provide access to all nodes
of interest in a non-intrusive way
metastability is, however, a very subtle
effect, depending on many details






a very detailed model for transistors (parasitics)
and circuit (layout!) is needed
analog simulation is needed, so the simulation
time may become considerable
finding the right phase CLK to data is difficult
the simulator tends to run into numeric problems
noise is not necessarily considered
so are the results finally representative?
Lecture "Advanced Digital Design"
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75
Summary (1)

Metastability is unavoidable when mapping
from a continuous space to a binary one.

It can result in late transition, creeping or
oscillation.

It can be specified away, but only in a
closed system.

Metastable inputs make gates operate out
of spec, hence their behavior is undefined.

Metastability can propagate, even over
masking provisions (TMR, etc.)
Lecture "Advanced Digital Design"
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76
Summary (2)

In practice, the risk of facing a metastable
upset can be made arbitrarily small.

On a statistical base, the upset probability
of a flip-flop can be predicted.

The corresponding equation can be derived
by investigating the homogenouns solution
of a dynamic model built from first-order
models of the inverters.

The generally used equation is based on
many simplifying assumptions.
Lecture "Advanced Digital Design"
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77
Summary (3)

The required model parameters are often
hard to find. Their determination by
measurements involves a lot of
uncertainties.

Synchronizers trade performance for a
reduced probability of a metastable upset.

Metastability is also an issue for modern
technologies. It can be best mitigated by
conservative design and large timing
margins.
Lecture "Advanced Digital Design"
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78